Model Predictive Control for Transparent Teleoperation Under Communication Time Delay

Prior efforts in bilateral teleoperation under communication delay have mainly yielded control algorithms that sacrifice performance in order to guarantee robust stability. In contrast, this paper proposes a multimodel predictive controller that can enhance the teleoperation transparency in the pres...

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Bibliographic Details
Published in:IEEE transactions on robotics 2006-12, Vol.22 (6), p.1131-1145
Main Authors: Sirouspour, S., Shahdi, A.
Format: Article
Language:English
Subjects:
Applied sciences
Channels
Communication system control
Computer science
control theory
systems
Contact
Control system synthesis
Control theory. Systems
Delay
Delay effects
Delay reduction
Dynamics
Exact sciences and technology
Impedance
Laws
linear quadratic Gaussian (LQG) control
Motion control
multimodel control
Predictive control
Predictive models
Robotics
Robust control
Robust stability
Stability
Telecommunications
teleoperation
telerobotics
time delay
Tracking
transparency
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Summary:Prior efforts in bilateral teleoperation under communication delay have mainly yielded control algorithms that sacrifice performance in order to guarantee robust stability. In contrast, this paper proposes a multimodel predictive controller that can enhance the teleoperation transparency in the presence of a known constant delay. Separate controllers are designed for free motion/soft contact and contact with rigid environments, with switching between these mode-based control laws occurring according to the identified contact mode. Performance objectives such as position tracking and tool impedance shaping for free motion/soft contact, as well as position and force tracking for contact with rigid environments, are incorporated into a multi-input/multi-output state-space representation of the system dynamics. New Artstein-type state and measurement transformations are proposed to generate delay-free dynamics suitable for output-feedback control, based on the original dynamics with delays in various input and output channels. The application of the continuous-time linear quadratic Gaussian control synthesis to the resulting mode-based delay-free dynamics yields control laws that guarantee closed-loop stability and enhanced performance in each phase of teleoperation. The robustness of the mode-based controllers with respect to parametric uncertainty is analyzed. Experimental results with a single-axis teleoperation setup demonstrate the effectiveness of the proposed approach
ISSN:1552-3098
1941-0468
DOI:10.1109/TRO.2006.882939